Income Taxes - Summary of Components of Deferred Tax Assets and Liabilities (Details) - USD ($) $ in Thousands	Dec. 31, 2023	Dec. 31, 2022
Deferred tax assets [Abstract]
Net operating loss carryforwards - domestic	$ 20,288	$ 20,565
Net operating loss carryforwards - foreign	1,516	1,537
Intangible assets	10,191	11,671
Capitalized R&E Costs	4,151	0
Nonqualified stock options	486	387
Accruals and reserves	334	582
163(j) interest limitation	1,612	1,024
Other	28	22
Total deferred tax assets	38,606	35,788
Valuation allowance	(38,598)	(35,780)
Total deferred tax assets, net of allowance	8	8
Deferred tax liabilities [Abstract]
Other	(8)	(8)
Total deferred tax liabilities	(8)	(8)
Total deferred tax assets, net	$ 0	$ 0